{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,10,16]],"date-time":"2026-10-16T13:13:20Z","timestamp":1792156400917,"version":"4.4.0"},"reference-count":47,"publisher":"MDPI AG","issue":"1","license":[{"start":{"date-parts":[[2019,12,22]],"date-time":"2019-12-22T00:00:00Z","timestamp":1576972800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Guangdong Higher Education Innovation Key Program","award":["2018KZDXM058"],"award-info":[{"award-number":["2018KZDXM058"]}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["61761146002, 61861130365"],"award-info":[{"award-number":["61761146002, 61861130365"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Reliable and robust systems to detect and harvest fruits and vegetables in unstructured environments are crucial for harvesting robots. In this paper, we propose an autonomous system that harvests most types of crops with peduncles. A geometric approach is first applied to obtain the cutting points of the peduncle based on the fruit bounding box, for which we have adapted the model of the state-of-the-art object detector named Mask Region-based Convolutional Neural Network (Mask R-CNN). We designed a novel gripper that simultaneously clamps and cuts the peduncles of crops without contacting the flesh. We have conducted experiments with a robotic manipulator to evaluate the effectiveness of the proposed harvesting system in being able to efficiently harvest most crops in real laboratory environments.<\/jats:p>","DOI":"10.3390\/s20010093","type":"journal-article","created":{"date-parts":[[2019,12,23]],"date-time":"2019-12-23T03:15:01Z","timestamp":1577070901000},"page":"93","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":54,"title":["An Autonomous Fruit and Vegetable Harvester with a Low-Cost Gripper Using a 3D Sensor"],"prefix":"10.3390","volume":"20","author":[{"given":"Tan","family":"Zhang","sequence":"first","affiliation":[{"name":"Guangdong Laboratory of Artificial Intelligence and Digital Economy (SZ), Shenzhen University, Shenzhen 510000, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zhenhai","family":"Huang","sequence":"additional","affiliation":[{"name":"Guangdong Laboratory of Artificial Intelligence and Digital Economy (SZ), Shenzhen University, Shenzhen 510000, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Weijie","family":"You","sequence":"additional","affiliation":[{"name":"Guangdong Laboratory of Artificial Intelligence and Digital Economy (SZ), Shenzhen University, Shenzhen 510000, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jiatao","family":"Lin","sequence":"additional","affiliation":[{"name":"Guangdong Laboratory of Artificial Intelligence and Digital Economy (SZ), Shenzhen University, Shenzhen 510000, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Xiaolong","family":"Tang","sequence":"additional","affiliation":[{"name":"Guangdong Laboratory of Artificial Intelligence and Digital Economy (SZ), Shenzhen University, Shenzhen 510000, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3212-0544","authenticated-orcid":false,"given":"Hui","family":"Huang","sequence":"additional","affiliation":[{"name":"Guangdong Laboratory of Artificial Intelligence and Digital Economy (SZ), Shenzhen University, Shenzhen 510000, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2019,12,22]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"4","DOI":"10.1504\/IJCVR.2012.046419","article-title":"Computer vision for fruit harvesting robots-state of the art and challenges ahead","volume":"3","author":"Kapach","year":"2012","journal-title":"Int. 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